Humanoid Robot Trunk Integration for Compact Multi-DOF Motion
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Solution Overview
Problem
Existing simulation robots face challenges in achieving a compact layout, high joint integration, and flexibility, which are critical for performance and universality, particularly in humanoid bipedal robots.
Innovation Solution
A high-flexibility simulation robot design with specific mechanisms for the head, trunk, arms, and legs, each with defined degrees of freedom and integrated drive motors, connected to a main controller and battery pack for coordinated motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the robot uses a compact structure layout with high joint integration, then the overall layout compactness and joint integration degree are improved, but the device complexity increases
Solution Approach 1:
The patent integrates multiple drive motors and control systems into the trunk mechanism, which serves as a central hub. The trunk mechanism combines the main controller, battery pack, and multiple drive motors (head rotation, head pitching, left arm rotation, right arm rotation, hip rotation, left leg swing, right leg swing) into a single integrated structure, reducing overall volume while maintaining high functionality.
Solution Approach 2:
The trunk mechanism serves multiple functions simultaneously: it houses the power supply (battery pack), control system (main controller), and drive mechanisms for multiple body parts (head, arms, hips, legs). This multi-functional design achieves compactness without proportionally increasing complexity, as the trunk acts as a universal platform for all these functions.
2Adaptability or versatility
If the robot increases the degrees of freedom for each mechanism (head, arms, legs), then the flexibility and movement range are improved, but the device complexity increases
Solution Approach 1:
The patent divides the robot into distinct functional mechanisms (head mechanism with 2 DOF, left arm mechanism with 4 DOF, right arm mechanism with 4 DOF, hip mechanism with 1 DOF, left leg mechanism with 6 DOF, right leg mechanism with 6 DOF). Each mechanism is independently designed and controlled, allowing high flexibility without overwhelming system complexity, as each segment can be optimized separately.
Solution Approach 2:
The robot employs dynamic control where the trunk mechanism can rotate and coordinate movements of multiple limbs simultaneously. The hip mechanism enables dynamic switching between walking and running modes by coordinating leg movements, allowing the robot to adapt its movement patterns in real-time without requiring overly complex static structures.
3Device complexity
If the robot integrates multiple drive motors and control systems in the trunk, then the joint integration degree is improved, but the weight of the moving object increases
Solution Approach 1:
The patent combines the battery pack and main controller into the trunk mechanism, consolidating power supply and control functions in one location. This merging reduces the need for separate mounting structures and connection systems, potentially offsetting the weight of integrated motors through shared structural components.
Data Source
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AI summary
Disclosed is a high-flexibility simulation robot, where a left arm mechanism has four degrees of freedom of motion: the left arm mechanism performs rotation motion relative to a trunk mechanism, the left arm mechanism performs pitching motion relative to the trunk mechanism, an upper arm of the left arm mechanism rotates, and an elbow of the left arm mechanism swings forwards; a right arm mechanism has four degrees of freedom of motion: the right arm mechanism performs rotation motion relative to the trunk mechanism, the right arm mechanism performs pitching motion relative to the trunk mechanism, an upper arm of the right arm mechanism rotates, and an elbow of the right arm mechanism swings forwards; a hip mechanism has one degree of freedom of motion: the hip mechanism performs rotation motion relative to the trunk mechanism.